;; -*- mode: lisp; -*-

(RSG 0 1)
(
  (templ $name $perceptorName $effectorName $attach
	 $x $y $z
	 $lenX $lenY $lenZ
	 $anchorX $anchorY $anchorZ
	 $axis1X $axis1Y $axis1Z $minDeg1 $maxDeg1
	 $axis2X $axis2Y $axis2Z $minDeg2 $maxDeg2
	 $totalMass $material)

  (nd Transform
        (setName $name)
        (setLocalPos $x $y $z)
        (importScene rsg/agent/soccerbot058/box.rsg
		     $lenX $lenY $lenZ
		     $totalMass $material)

        ;; install universal joint
	(importScene rsg/agent/nao/universaljoint.rsg
		     $perceptorName $effectorName
		     ../boxBody  $attach
		     $anchorX    $anchorY   $anchorZ
		     $axis1X     $axis1Y    $axis1Z
		     $axis2X     $axis2Y    $axis2Z
		     $minDeg1    $maxDeg1
		     $minDeg2    $maxDeg2)
        )
)